---
type: training-material
domain: programming
subdomain: vision
level: 2
tags: [photonvision, vision, apriltag, python, raspberry-pi]
prerequisites: [programming-level-1, electrical-level-1]
source: https://photonvision.org/
status: active
growth: tree
---

# PhotonVision — FRC Computer Vision

**Website:** https://photonvision.org/
**Purpose:** Free, fast, easy computer vision for FRC

## What It Is

PhotonVision is the largest FOSS FRC vision project. It runs on a coprocessor (Raspberry Pi 3/4, OrangePi 3, etc.) and handles:
- AprilTag detection and pose estimation
- Object detection (ML-based)
- Multi-camera support
- Driver mode integration

## Why We Use It

Team 2890 runs PhotonVision on **Mothman** for AprilTag detection. It's our primary vision system.

## Key Capabilities

| Feature | Description |
|---------|-------------|
| AprilTag Tracking | Out of the box FRC target support |
| Multi-Tag Pose | Fuse all available data for peak accuracy |
| Camera Calibration | Per-camera intrinsics maximize homography accuracy |
| ML Object Detection | Hardware-accelerated inferencing for gamepieces |
| Driver Mode | Same camera for driving and vision |
| Multi-Camera | Run as many cameras as hardware supports |

## Getting Started

1. Download PhotonVision image for your coprocessor
2. Flash to SD card
3. Connect to network — start tracking in minutes
4. Configure via web dashboard

## Connection to YAGSL

PhotonVision works alongside YAGSL (swerve). YAGSL handles drive control, PhotonVision handles vision targets.

## 2026 Champs Talk

PhotonVision 2026 presentation covers:
- Rubik Pi 3 hardware
- Object Detection with PhotonVision
- Slide deck coming soon

## In The Curriculum

This topic belongs in:
- **Programming Track → Level 2** (after basic Java/WPILib)
- **Vision Module** (Apriltag tracking, camera setup)

## Source

https://photonvision.org/